Implement ICentroidalMPC interface and add the StableCentroidalMPC class #2852
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Node.js 16 actions are deprecated. Please update the following actions to use Node.js 20: Zomzog/changelog-checker@14fa5f86a23c48fddade9c0e0331b90844a8ea20. For more information see: https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/.
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